Device and method for applying a marking to a surface

Abstract

A device (24) is proposed for applying a marking to a surface (14), comprising: a chassis (30); a marking means (32) mounted on the chassis (30), the marking means (32) being configured to apply a marking to the surface (14); a steering gear (34) mounted in particular on a first end of the chassis (30), the steering gear (34) being adapted to control the direction of the device (24) to follow a desired direction; a motorized advancement means (36) mounted in particular on a second end of the chassis (30), opposite the first end, the advancement means (36) being configured to ensure movement of the device (24) in the desired direction. Abstract figure: Figure 2

Description

Title of the invention: Device and method for applying a marking to a surface. Technical field

[0001] The present disclosure falls within the domain of techniques for applying a marking to a surface. Previous technique

[0002] Floor markings are typically used in warehouses to enable the navigation of automated vehicles used to retrieve stored items. These automated vehicles can follow the floor markings and measure the distance traveled to determine their position within the warehouse. These vehicles are commonly known as Automated Guided Vehicles (AGVs).

[0003] Traditionally, floor marking is carried out manually by an operator, for example by applying adhesive tape or paint. Floor marking can also be applied by following a line projected by a laser, or by using a ruler successively positioned on the floor. However, such manual application is not very precise. The operator must navigate a complex environment, with storage racks forming narrow passages and low obstacles to cross. The resulting marking is not precise enough to be followed by an automated guided vehicle.

[0004] There is therefore a need for a device enabling the application of floor markings that can be followed by an automated vehicle, particularly in warehouses. There is also a need for such a device enabling the precise application of markings. Summary

[0005] A device is proposed for applying a marking to a surface, including: - a chassis; - a marking means mounted on the chassis, the marking means being configured to apply a marking to the surface; - a steering train mounted in particular on a first end of the chassis, the steering train being adapted to control the direction of the device to follow a desired direction; - a motorized means of advancement, mounted in particular on a second end of the chassis, opposite the first end, the means of advancement being configured to ensure movement of the device in the desired direction.

[0006] Such a device makes it possible to mark the ground along a surface, in particular the floor of a storage warehouse, without the intervention of an operator. This device also makes it highly advantageous to mark along a desired path over several tens of meters, regardless of the flatness of the surface.

[0007] Optionally, the marking means may include a feed reel configured to receive a roll of adhesive tape.

[0008] Thus, the marking applied by the device to the surface can take the form of an adhesive strip unwound from the tape roll mounted on the dispensing reel. The adhesive strip ensures precise marking, without risk of smudging, and is therefore particularly suitable for guiding an autonomous vehicle.

[0009] Optionally, the advancement means may be an applicator roller, the applicator roller being configured to ensure application of the adhesive strip unwound from the supply roll onto the surface, applied under pressure between the surface and the applicator roller.

[0010] The applicator roller allows both the device to advance in the desired direction and the adhesive strip to be applied by applying pressure to the adhesive strip against the surface during the movement of the device. The applied adhesive strip cannot deviate from the desired direction, allowing for precise marking.

[0011] Optionally, the marking means may further include: - a guide piece forming an insertion guide for the unrolled adhesive strip between the applicator roller and the surface when the unrolled adhesive strip extends between the emitting reel and the applicator roller; and - a tension drum mounted for rotation on the frame, in particular above the applicator roller, the tension drum defining an inflection point of the unwound adhesive strip when the unwound adhesive strip extends between the feed roll and the guide piece, ensuring the tensioning of the adhesive strip on the guide piece.

[0012] Thus, it is possible to ensure that the edges of the adhesive tape are applied precisely, with a tolerance on the order of a millimeter, preferably a tenth of a millimeter, over a length of several tens of meters. Furthermore, the tensioning provided by the tensioning drum prevents the formation of any creases or bubbles in the adhesive tape unwound from the spool. This ensures that the adhesive tape remains continuously pressed against the ground during the application of the marking.

[0013] Optionally, the marking means may further include: - a rotating rewind reel mounted on the chassis to wind a coating onto the unrolled adhesive tape; and - a return drum mounted to rotation on the frame between the guide piece and the recovery reel, the return drum forming an inflection point of the coating when the coating extends between the guide piece and the recovery reel.

[0014] Thus, when the adhesive tape includes a coating on one adhesive side, this coating can be removed and wound around the retrieval reel. The passage of the coating around the bending point ensures that the retrieval reel does not pull on the adhesive tape.

[0015] Optionally, the device may further include: - an electric motor mounted on the chassis; - a drive belt configured to transmit the rotation of the electric motor to the applicator roller and the recovery reel, - a clutch with a torque limiter function, provided between the transmission belt and the recovery coil.

[0016] This ensures synchronized movement between the applicator roller and the recovery drum. The clutch also allows for constant tension on the coating despite the continuous increase in the coating diameter around the recovery roller.

[0017] A person skilled in the art will be able to select the material for the applicator roller, particularly its hardness, in order to exert optimal pressure on the adhesive strip. Preferably, the applicator roller will be made of polyurethane, most preferably semi-rigid polyurethane.

[0018] Thus, the applicator roller can apply sufficient force to the adhesive strip against the surface. In particular, it is possible to prevent the formation of air bubbles between the applied strip and the surface.

[0019] Optionally, the steering train may include two wheels steerable by a motor, the two wheels and the means of advancement forming a tripod, preferably the two steerable wheels form the front of the device and the means of advancement form the rear of the device when the device moves.

[0020] The tripod-shaped device has three points of contact with the ground, thus being in isostatic equilibrium. Furthermore, the steering gear can be positioned at the front of the device to control its direction by pivoting around the drive means. A position error relative to the desired direction can be converted into a rotational error around the pivot point, ensuring that the device is continuously oriented in the desired direction.

[0021] Optionally, the device may further include: - a linear optical sensor mounted on the first end of the chassis, the linear optical sensor being configured to detect a vertical plane relative to the surface, the vertical plane being defined by a plane laser, and the desired direction corresponds to the direction of the vertical plane.

[0022] Thus, the device can apply perfectly straight markings to the ground, following the vertical plane. Indeed, Automated Guided Vehicles (AGVs) may need to move in straight lines to optimize their route, but also to avoid the numerous obstacles (such as the support posts of storage racks) found in the warehouses they operate in. Furthermore, the linear optical sensor enables the device to detect the vertical plane of the laser regardless of the flatness of the ground. The device is not sensitive to changes in position along the vertical direction relative to the surface.

[0023] Optionally, the device may further include: - a linear optical sensor mounted on the chassis to be oriented in the opposite direction to the surface, the linear optical sensor being configured to detect a line or pattern projected towards the surface, the projected line or pattern being defined by a projector, and the desired direction corresponds to the projected line or pattern.

[0024] According to this option, the device can apply markings to the ground in straight lines, curved lines, or by forming any pattern. Curved lines or patterns can, for example, be used to bypass storage racks or to mark sports fields. Furthermore, the linear sensor always allows the device to detect the projected line or pattern regardless of the flatness of the ground, particularly since the optical sensor can detect the line or pattern projected from a ceiling.

[0025] Optionally, the device may have a height between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length between 100 mm and 650 mm, preferably between 100 mm and 400 mm.

[0026] Thus, the device is particularly suited to navigating complex environments, with narrow passages and obstacles to overcome. The device can pass between and under obstacles, depending on the nature and shape of said obstacles.

[0027] According to another aspect, an assembly is proposed comprising the device, and a roll of adhesive tape mounted on the supply reel, an adhesive strip unwound from the roll of adhesive tape being adapted to be applied to the surface by passing between the applicator roller and the surface.

[0028] Optionally, the adhesive tape roll can be cantilevered onto the feed reel. When a roll is empty, it can easily be removed from the application drum and a new roll can be loaded onto the application drum.

[0029] According to another aspect, a system is proposed comprising the device and a plane laser or a projector configured to define the desired direction, the linear optical sensor being configured to detect the desired direction.

[0030] Thus, the device can be guided in the desired direction defined by the plane laser or the projector. The plane laser can define a vertical plane, so that the desired direction is a straight line and the applied marking is perfectly rectilinear. Alternatively, a ceiling-mounted projector can define a straight line, a curved line, or any pattern, and the applied marking can be straight, curved, or patterned. In both cases, the device is not sensitive to changes in position along the vertical direction relative to the surface.

[0031] According to another aspect, a method is proposed for applying a marking to a surface comprising: - place the device on the floor of a warehouse containing one or more storage racks; - define a desired direction; - activate the means of advancement to move the device in the desired direction, passing in particular under the storage rack(s), and / or between the storage racks; - apply the marking to the surface using the marking means while the device is advancing; - actuate the steering train to align the device with the desired direction during the advance of the device.

[0032] Thus, the device applies a linear marking by progressing in a complex environment, passing between and under obstacles formed by storage racks.

[0033] Optionally, activating the advance mechanism, applying the markings, and activating the steering train can be carried out autonomously. Applying the markings does not require operator intervention.

[0034] Optionally, the device may include a feed spool and an applicator roller, and the advancement means may include: - to rotate the applicator roller to jointly advance the device in the direction to follow and to exert an application force on the adhesive strip unrolled against the surface.

[0035] Optionally, the applicator roller can exert on the unrolled adhesive strip an application force greater than or equal to 40 N, or even greater than 50 N.

[0036] Optionally, the device may include a linear optical sensor, defining the The direction to follow may include orienting a plane laser to define a vertical plane relative to the surface, and the method may further include - orienting the directional train to align the linear optical sensor with the vertical plane during the advancement of the device.

[0037] Optionally, the device may include a linear optical sensor, defining the The direction to follow may include aiming a projector to project a line or pattern onto the surface, and the method may further include - aiming the directional train to align the linear optical sensor with the projected line or pattern during the advancement of the device.

[0038] According to yet another aspect, it is proposed to use the device for the application of a marking, of the whole, of the system, or even of the method for tracing linear marks, in particular of adhesive strip, used for the guidance of automated guided vehicles in storage warehouses. Brief description of the drawings

[0039] Other features, details and advantages will become apparent from the detailed description below and from the analysis of the accompanying drawings, in which: Fig. IA, Fig. IB

[0040] [Fig. 1 A] and [Fig. 1B] schematically illustrate a top view of a warehouse in which is fitted with a system for drawing markings on the ground. Fig. 2

[0041] [Fig.2] schematically illustrates a perspective view of an assembly that can be implemented in the system of figures IA and IB. Fig. 3

[0042] [Fig.3] schematically illustrates a longitudinal cross-sectional view of a detail of the whole of [Fig.2]. Fig. 4

[0043] [Fig.4] schematically illustrates a perspective view of the detail of [Fig.3]. Fig. 5

[0044] [Fig.5] schematically illustrates in perspective a directional train that can be implemented throughout the [Fig.2]. Fig. 6

[0045] [Fig.6] illustrates the directional train of [Fig.5] from a different perspective. Fig. 7

[0046] [Fig.7] schematically in perspective a second detail of the whole of the [Fig.2] and a plane laser. Fig. 8

[0047] [Fig-8] schematically illustrates a side view of a third detail of the assembly of the [Fig.2]. Fig. 9

[0048] [Fig.9] schematically illustrates the whole of [Fig.2] from a perspective different. Fig. 10

[0049] [Fig. 10] illustrates a flowchart of a linear marking application method on a surface. Description of the implementation methods

[0050] Figures IA and IB schematically illustrate a top view of a warehouse 10 and in which a system 12 is placed for carrying out floor marking. A warehouse is understood to be a logistics building intended for the storage and distribution of goods.

[0051] The warehouse 10 comprises a surface 14 (or floor) on which a plurality of storage racks 16 are arranged to hold the items. The storage racks 16 can extend throughout the entire volume of the warehouse 10, that is, along the longitudinal x and lateral y directions defined in the plane of the surface 14, and the vertical z direction, normal to the surface 14. The storage racks 16 can be spaced 800 mm, 600 mm, or even 400 mm apart along the longitudinal and lateral x,y directions, and can form a gap between the surface and the storage rack 16 along the vertical z direction of less than 800 mm, or even less than 600 mm. The system 12 described below is adapted to navigate this complex environment.

[0052] The floor markings comprise one or more straight lines extending across the surface 14. In the warehouse 10, a "straight line" is defined as a line that deviates only a few millimeters from a perfect straight line over a distance of approximately one hundred meters. The straight lines of the markings may extend over a distance greater than 40 m, greater than 60 m, or even greater than 80 m. The straight lines may pass between the storage racks 16, or even under the storage racks 16. The straight lines allow for the guidance of automated vehicles. The automated vehicles are configured to navigate the warehouse 10 using the straight lines to retrieve and / or place items on the storage racks 16.

[0053] The straight lines here form a grid composed of horizontal lines 18 and vertical lines 20. The horizontal and vertical lines 18, 20 extend over the surface 14 in the longitudinal x and lateral y directions. Such a grid allows for precise navigation of the automated vehicle throughout the warehouse, and the automated vehicles can optimize their routes.

[0054] The system 12 here comprises a plane laser 22 and a device 24 for applying the marking to the surface 14.

[0055] The planar laser 22 is configured to define a desired direction for the device 24. By desired direction, we mean here the direction to be followed by the device 24 to apply the vertical and horizontal lines 18, 20 of the marking on the surface 14. The marking is applied along the desired direction.

[0056] Here, the desired direction is defined by a vertical plane 26, namely a plane perpendicular to the surface 14 (parallel to the z-axis). The plane laser 22 emits the vertical plane 26 to be detected by the device 24. The vertical plane 26 allows the device 24 to perceive the desired direction regardless of its position along the vertical z-direction. The vertical plane 26 allows the device 24 to be insensitive to changes in height (variations along the vertical z-direction) along the surface 14.

[0057] As illustrated in Figures IA and IB, the desired direction can be adjusted by rotating the plane laser 22 about itself. The plane laser 22 can be rotated about itself until it extends parallel to a horizontal or vertical line 28, 20 to be marked on the surface 14.

[0058] As more visible in [Fig.2] the device 24 essentially comprises a chassis 30 on which is mounted a marking means 32, a steering train 34 and a forwarding means 36. The device 24 is adapted to move in the desired direction and simultaneously apply the marking to the surface 14.

[0059] The chassis 30 here takes the form of a substantially flat plate. The chassis 30 can, for example, be a metal or plastic plate, laser-cut. The chassis 30 allows the assembly of the device 24, by forming a mounting surface, in particular for the marking means 32, the steering train 34 and the advancement means 36.

[0060] As illustrated, the marking means 32 here comprises a dispensing reel 38 mounted on the frame 30. The dispensing reel 38 is in the form of a rimmed cylinder. A roll of adhesive tape 40 can be mounted on the dispensing reel 38 to form an assembly with the device 24. The applied floor marking then takes the form of adhesive tape 42 unwound from the dispensing reel 38. Such marking is not likely to bleed and is therefore particularly suitable for guiding automated vehicles within the warehouse 10.

[0061] The adhesive tape roll 40 is mounted in particular in cantilever on the supply reel 38. The roll 40 is then accessible (there is no housing provided around the roll), so that it is easy to replace the roll 40 when the adhesive tape on the roll 40 is exhausted.

[0062] The marking means 32 further includes a guide piece 44 and a tensioning drum 46 adapted to unwind the adhesive strip from the roller 40 and guide it towards an applicator roller 48.

[0063] The applicator roller 48 here corresponds to the advancement means 36 of the device 24. The applicator roller 48 is mounted on one end of the frame 30, which forms the rear of the device 24 when the device 24 moves. The applicator roller 48 is, in particular, a cylindrical part driven in rotation by a motor 50. The applicator roller 48 ensures the movement of the device 24 and, simultaneously, the application of pressure to the adhesive strip fed between the surface 14 and the applicator roller 48. The rotationally driven applicator roller 48 advances the device 24 and unwinds the adhesive strip from the supply roll 38 and applies it against the surface 14.

[0064] The applicator roller 48 is made of a material with a hardness between 40 and 100 Shore A. The hardness of the material forming the applicator roller 48 is chosen to prevent the formation of bubbles when applying the unrolled adhesive strip 42 to gravel present on the surface 14. In particular, the hardness of the material allows a force greater than 40 N, or even greater than 50 N, to be applied to the unrolled adhesive strip 42 against the surface. Preferably, the material is semi-rigid polyurethane.

[0065] The guide piece 44 is shaped like a claw surrounding a portion of the applicator roller 48 (see [Fig. 3]). The guide piece 44 forms an insertion guide for the unrolled adhesive strip 42 between the applicator roller 48 and the surface 14. The guide piece 44 ensures proper positioning of the unrolled adhesive strip 42 between the applicator roller 48 and the surface 14, thus ensuring precise positioning of the unrolled adhesive strip 42 on the surface 14.

[0066] The tensioning drum 46 is rotatably mounted on the frame 30. The tensioning drum 46 is mounted substantially above the applicator roller 48, to form an inflection point of the adhesive strip 42 when the adhesive strip is unwound from the supply reel 38. Thus, the unwound adhesive strip 42, extending between the supply reel 38 and the applicator roller 48, is tensioned by the tensioning drum 46 and can be pressed against the guide piece 44. The adhesive strip can be unwound from the supply reel 38, tensioned by the tensioning drum 46, pressed against the guide piece 44 before being applied under pressure against the surface 14 by the applicator roller 48.

[0067] Furthermore, in some cases, the adhesive surface of the adhesive strip 42 is covered with a coating 52, that is to say, a plastic film protecting the adhesive surface. Therefore, the marking means 32 may further include a return drum 54 adapted to wind the coating 52 around a retrieval reel 56.

[0068] The recovery coil 56 is rotatably mounted on the frame 30. The recovery coil 56 is here a hollow cylindrical part driven in rotation by the motor 50 which also drives the applicator roller 48. The coating 52 can be wound around the recovery coil 56 by rotation of the recovery coil 56, in conjunction with the advancement of the device 24.

[0069] The recovery coil 56 is separated from the motor 50 by a torque-limiting clutch 58. The clutch 58 ensures that the tension applied to the coating 52 is constant even if the diameter of the coating 52 wound around the recovery coil 56 increases.

[0070] The return drum 54 can be rotationally mounted on the frame 30, between the recovery reel 56 and the applicator roller 48. The return drum 54 forms an inflection point of the coating 52, to prevent the recovery reel 56 from applying tension on the unwound adhesive strip 42.

[0071] As can be seen in particular in [Fig. 4], the applicator roller 48, the tension drum 46, and the return drum 54 can be assembled in a support 60 to form a subassembly. The subassembly facilitates the assembly of the device 24. It appears possible to form the subassembly before mounting the support 60 onto the frame 30, for example, by screwing. Furthermore, the guide piece 44 can be an integral part of the support 60.

[0072] In this case, the support 60 comprises two parallel portions 62, 64. A first portion 62 can be fixed to the frame 30, and a second portion 64 can be spaced away from the frame 30 and connected to the first portion 62, for example by screwing. The tensioning drum 46 and the applicator roller 48 extend transversely between the two portions 62, 64 to be supported at their two ends. The guide piece 44 is formed by a projection extending from each of the portions 62, 64.

[0073] The directional train 34 is mounted on one end of the chassis 30 opposite the end on which the advancement means 36 is mounted. The directional train 34 is intended to form the front of the device 24 when the device 24 moves. The directional train 34 is configured to control the direction of the device 24 from the front of the device 24. Therefore, a position error of the device 24 can be converted into a rotation to be performed around the pivot point, here defined by the applicator roller 48. Since the applicator roller 48 is behind the directional train 34 when the device 24 moves, the position correction can be smoothed out during the movement of the device 24. This prevents an abrupt change in the direction of the marking applied to the surface 14.

[0074] As more clearly seen in [Fig. 5], the steering train 34 here comprises two steerable wheels 66 arranged on either side of the chassis 30. The device 24 is thus a tripod, with three points of contact on the surface (the applicator roller 48 and each steerable wheels 66). The tripod configuration gives the device 24 an isostatic equilibrium.

[0075] Here, each steerable wheel 66 is arranged on a wheel support 67. Each wheel support 67 is mounted for rotation relative to the chassis 30 along a vertical axis normal to the axis of rotation of the steerable wheels 66. Each wheel support 67 is connected by a ball joint 69 to a steering bar 68 extending transversely from the chassis 30. The two steerable wheels 66 are thus kept parallel by the steering bar 68.

[0076] The orientation of the steerable wheels 66 is controlled by means of a motor 70, preferably a servomotor, which acts on the steering rod 68. As more clearly seen in [Fig. 6], the motor 70 is connected to one of the steerable wheels 66 by an output arm 71 and a control rod 73. The output arm 71 extends from the motor 70 in the direction normal to the axis of rotation of the motor 70. The control rod 73 extends from one end of the output arm opposite the motor 70 to the wheel support 67, substantially parallel to the steering rod 68. The control rod 73 has a ball joint 75 at both ends for connecting, on the one hand, to the output arm 71 and, on the other hand, to the wheel support 67. The control rod 73 is driven transversely with respect to the chassis. 30, to the right or to the left, as needed, by motor 70.When device 24 deviates from the desired direction, motor 70 can be activated to correct the orientation of device 24 and return to the desired direction.

[0077] In the illustrated example, the steering gear 34 is mounted on a bracket 72 attached to the chassis 30, for example by screwing. The bracket 72 facilitates the assembly of the device 24. The steering gear 34 can be assembled before being attached to the chassis 30.

[0078] The device 24 further includes a linear optical sensor 74 mounted on the chassis 30, for example a CCD sensor. As shown in [Fig. 7], the linear optical sensor 74 can detect the vertical plane 26 defined by the plane laser 22. The linear optical sensor 74 enables the device 24 to follow the desired direction when this direction is defined by a laser.

[0079] The linear optical sensor 74 is mounted substantially in the vicinity of the directional train 34, above the directional train 34. Thus, the linear optical sensor 74 is intended to be close to the surface 14 when the marking is applied to the surface by the device 24. The linear optical sensor 74 is then insensitive to defects in the surface 14 that could destabilize the device 24 and therefore misalign the linear optical sensor 74 with respect to the vertical plane 26.

[0080] The linear optical sensor 74 is mounted on the chassis 30 to extend transversely to the vertical plane 26. The linear optical sensor 74 can detect the vertical plane 26 regardless of its height relative to the plane laser 22. The device 24 is insensitive to variations in height (variations along the z direction) when moving along surface 14.

[0081] The linear optical sensor 74 can be inserted into a housing 76. The housing 76 can protect the linear optical sensor 74 from possible shocks or dirt. The housing 76 can have an aperture 78 surmounted by a filter 80, allowing the linear optical sensor 74 to perceive the vertical plane 26.

[0082] In addition, a light strip 82, for example formed by LEDs, may be provided. The light strip 82 may be positioned substantially above the linear optical sensor 74. The light strip 82 allows the position of the vertical plane 26 relative to the center of the optical sensor 74 to be displayed. In this case, the linear sensor 74 has a width of approximately 10 mm and the light strip 82 has a width of approximately 100 mm. A factor of 10 between the two widths allows for precise visual feedback on the difference between the orientation of the device 24 and the desired direction.

[0083] Figure 8 illustrates in more detail a system for transmitting the rotation from the motor 50 to the applicator roller 48 and the retrieval reel 56. The transmission system can be provided on one side of the frame 30 opposite the advancement means 36, the supply reel 38 and / or the retrieval reel 56. The transmission of motion is thus separated from the adhesive strip 42 by the frame 30.

[0084] The transmission system here comprises a first pulley 84 connected to the output shaft of the motor 50, a second pulley 86 connected to the applicator roller 48, and a third pulley 88 connected to the recovery spool 56. A belt 90 connects the three pulleys together. This ensures synchronous rotation of the applicator roller 48 and the recovery spool 56. The torque-limiting clutch 58 can be mounted between the third pulley 88 and the recovery spool 56.

[0085] As more clearly seen in [Fig. 9], the transmission system can be protected by a housing 92 mounted on the chassis 30, in particular by screwing. The housing 92 can protect the transmission system from possible shocks or dirt.

[0086] The device 24 may also include a control unit 94. The control unit 94 may be mounted on the side of the chassis 30 opposite the advancement means 36 and the marking means 32. The control unit 94 may be provided in a second housing 96, allowing the components of the control unit 94 to be protected from shocks and / or possible soiling.

[0087] The control unit 94 may include a microcontroller 98 adapted to receive data from the linear optical sensor 74 and to control the motors 70, 50 of the steering train 34 and the advancement means 36.

[0088] The control unit 94 may also include a switch 100 and an emergency stop button 102, allowing an operator to control the device 24. The switch 100 and the emergency stop button 102 may, in particular, extend to through the housing 96, to be connected to the microcontroller 98 while being accessible to the operator.

[0089] The device 24 further includes a battery 104 mounted on the chassis 30 to power the device 24. The device 24 is autonomous, and can navigate the warehouse 10 applying the marking without operator intervention.

[0090] Finally, in the illustrated example, a handle 106 can be mounted on the chassis 30, in particular on an upper part of the chassis 30, away from the advancement means 36 and the steering train 34. The handle 106 allows the device 24 to be grasped. The device 24 is easily transportable.

[0091] The device 24 described above has a height of between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width of between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length of between 100 mm and 650 mm, preferably between 100 mm and 400 mm. The device 24 is compact. It is therefore suitable for applying markings in complex environments with narrow passages and low obstacles. In particular, the device 24 can apply markings by passing between and under the storage racks 16 of the warehouse 10.

[0092] A method for applying the marking to the surface 14 is subsequently described, with reference to [Fig. 10].

[0093] According to a first step 110, the device 24 is placed on the surface (the floor) of the warehouse 10. The device 24 is positioned to face a horizontal line 18 or a vertical line 20 of the marking to be made by the device 24. The device 24 is positioned so that the directional train 34 forms the front of the device 24, and the advancement means 36 is located at the rear of the device 24. As described above, the position correction can be smoothed during the movement of the device 24. This avoids an abrupt change in the direction of the marking applied to the surface 14.

[0094] According to a second step 200, the desired direction is defined. The desired direction corresponds to the vertical line 18 or horizontal line 20 of the marking to be made by the device 24. Here, the desired direction is defined by the vertical plane 26 emitted by the plane laser 22. The plane laser 22 can be oriented by being rotated on itself until the direction of the vertical plane 26 extends along the horizontal line 18 or vertical line 20 to be made, and the vertical plane 26 is perceived by the linear optical sensor 74 of the device 24 (see figures IA and IB).

[0095] According to a third step 300, the advancement means 36 is actuated to advance the device 24 in the desired direction. The advancement means 36 progresses within the warehouse 10, passing between and under the storage racks 16. The marking can thus be applied after the storage racks 16 have been put in place. avoiding possible damage to the markings during the installation of the storage racks 16.

[0096] According to a fourth step 400, carried out in parallel with the third step 300, the marking is applied to the surface 14 by means of the marking device 32. The marking is applied to the surface simultaneously with the advancement of the device 24 in the desired direction. Here, the marking is an adhesive strip 42 unwound from the slitter reel 38 and applied under pressure against the surface 14 by the applicator roller 48. The marking on the ground and the advancement of the device 24 are performed by the applicator roller 48, ensuring precise marking. It should be noted that the applicator roller 48 applies an application force on the unwound adhesive strip 42 greater than 40 N, or even greater than 50 N, preventing the formation of bubbles between the surface 14 and the unwound adhesive strip 42.

[0097] According to a fifth step 500, carried out in parallel with the third and fourth steps 300, 400, the directional train 34 is actuated to align the device 24 with the desired direction during the advance of the device 24. The directional train 34 can continuously detect the desired direction and correct the trajectory of the device 24. Here, the vertical plane 26 emitted by the plane laser 22 can be detected by the linear optical sensor 74. A deviation of the device 24 from the vertical plane 26 can be corrected by modifying the orientation of the steerable wheels 66 so as to rotate the device 24 around the pivot point formed by the applicator roller 48. The correction can be controlled by the motor 70, inducing a pivoting of the wheel supports 67 so as to reduce the positional deviation detected by the optical sensor 74 with respect to the vertical plane 26.

[0098] The invention is not limited to the examples described above but is on the contrary susceptible to numerous variants accessible to those skilled in the art.

[0099] For example, the desired direction can be defined by any other means. The desired direction can be defined by a line laser, or by a physical guide such as a ruler or a rope.

[0100] In a particular example, the desired direction can be defined by a projector configured to project a straight line, a curved line, or any pattern onto the surface. The pattern can include a series of straight lines and / or curved lines in different directions. The pattern can also form a geometric shape, for example, a polygon or an oval. The projector can, for example, be mounted on a ceiling. The optical sensor can then be mounted on the chassis 30, oriented upwards relative to the surface, to detect the projected line or pattern. The device can follow the desired direction by applying the marking to the ground in straight lines, curved lines, or by forming a pattern. Such markings make it possible, in particular, to bypass storage racks or to draw lines on sports fields.

[0101] The marking may be any other type of marking on a surface, including paint. The marking means 32 may then include a holder for a spray paint can, or a brush for applying the marking.

[0102] The steering train 34 can take a different form than that illustrated. The steering train 34 can comprise one or more wheels, and each wheel can be steerable individually or as a group.

[0103] Similarly, the means of advancement 36 can be one or more wheels, or a roller skid or a track.

Claims

Claims

1. Device (24) for applying a marking to a surface (14), comprising: - a frame (30); - a marking means (32) mounted on the frame (30), the marking means (32) being configured to apply a marking to the surface (14), the marking means (32) comprising a supply reel (38) configured to receive a roll of adhesive tape (40); - a directional train (34) mounted in particular on a first end of the frame (30), the directional train (34) being adapted to control the direction of the device (24) to follow a desired direction;- a motorized advancement means (36), mounted in particular on a second end of the chassis (30), opposite the first end, the advancement means (36) being configured to ensure movement of the device (24) in the desired direction, the advancement means (36) being an applicator roller (48) configured to ensure application of the unwound adhesive strip (42) from the supply reel (38) on the surface, applied under pressure between the surface and the applicator roller (48).;

2. Device (24) according to claim 1, wherein the marking means (32) further comprises: - a guide piece (44) forming an insertion guide for the unrolled adhesive strip (42) between the applicator roller (48) and the surface when the unrolled adhesive strip (42) extends between the supply reel (38) and the applicator roller (48); and - a tensioning drum (46) rotatably mounted on the frame (30), in particular above the applicator roller (48), the tensioning drum (46) defining an inflection point of the unrolled adhesive strip (42) when the unrolled adhesive strip (42) extends between the supply reel (38) and the guide piece (44), ensuring the tensioning of the unrolled adhesive strip (42) on the guide piece (44).

3. The device (24) of claim 2, wherein the marking means (32) further comprises: - a recovery reel (56) rotatably mounted on the frame (30) for winding a coating (52) from the unwound adhesive tape (42); and - a return drum (54) rotatably mounted on the frame (30) between the guide piece (44) and the recovery reel (56), the return drum (54) forming an inflection point of the coating (52) when the coating (52) extends between the guide piece (44) and the recovery reel (56).

4. Device (24) according to any one of the preceding claims, in which the directional train (34) comprises two wheels (66) steerable by a motor (70), the two steerable wheels (66) and the advancement means (36) forming a tripod, preferably the two steerable wheels (66) form the front of the device (24) and the advancement means (36) form the rear of the device (24) when the device (24) moves.

5. A device (24) according to any preceding claim, wherein the device (24) further comprises: - a linear optical sensor (74) mounted on the first end of the frame (30), the linear optical sensor (74) being configured to detect a vertical plane (26) relative to the surface (14), the vertical plane (26) being defined by a plane laser (22), and the desired direction corresponds to the direction of the vertical plane (26).

6. The device (24) of any one of claims 1 to 4, wherein the device further comprises: - a linear optical sensor mounted on the frame (30) to be oriented in the direction away from the surface (14), the linear optical sensor being configured to detect a line or pattern projected toward the surface (14), the projected line or pattern being defined by a projector, and the desired direction corresponds to the projected line or pattern.

7. A device (24) according to any preceding claim, wherein the device (24) has a height of between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width of between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length of between 100 mm and 650 mm, preferably between 100 mm and 400 mm.

8. An assembly comprising the device (24) according to claim 1, and a roll of adhesive tape (40) mounted on the supply reel (38), the unrolled adhesive strip (42) from the adhesive strip roll (40) being adapted to be applied to the surface (14) by passing between the applicator roller (48) and the surface (14).

9. An assembly according to claim 8, wherein the roll of adhesive tape (40) is cantilevered over the supply spool (38).

10. A system comprising the device (24) of claim 5 or 6, and a planar laser (22) or projector configured to define the desired direction, the linear optical sensor (74) being configured to detect the desired direction.

11. A method for applying a marking to a surface comprising: - placing a device (24) according to any one of claims 1 to 7 on the floor of a warehouse (10) comprising one or more storage racks (16); - defining a desired direction; - rotating the applicator roller (48) to jointly advance the device (24) in the desired direction, in particular passing under the storage rack(s) (16), and / or between the storage racks (16), and to exert an application force on the unrolled adhesive strip (42) against the surface (14); - applying the marking to the surface (14) using the marking means (32) during the advancement of the device (24); - actuating the directional train (34) to align the device (24) with the desired direction during the advancement of the device (24).

12. The method of claim 11, wherein the device (24) comprises a linear optical sensor (74) mounted on the frame (30) to be oriented in the direction away from the surface (14), the linear optical sensor being configured to detect a line or pattern projected toward the surface (14), the projected line or pattern being defined by a projector, and the desired direction corresponds to the projected line or pattern, defining the direction to follow comprises orienting a planar laser (22) to define a vertical plane (26) relative to the surface (14), and the method further comprises, - orienting the directional train (34) to align the linear optical sensor (74) with the vertical plane (26) during advancement of the device (24).

13. The method of claim 11, wherein the device (24) comprises a linear optical sensor mounted on the frame (30) to be oriented in the direction away from the surface (14), the linear optical sensor being configured to detect a line or pattern projected toward the surface (14), the projected line or pattern being defined by a projector, and the desired direction corresponds to the projected line or pattern, wherein defining the direction to follow comprises orienting a projector to project a line or pattern toward the surface (14), and the method further comprises, - orienting the directional train (34) to align the linear optical sensor with the projected line or pattern during advancement of the device (24).

14. Use of the device (24) for applying a marking according to one of claims 1 to 7, of the assembly according to one of claims 8 or 9, of the system according to claim 10, or of the method according to one of claims 11 to 13 for drawing linear marks, in particular adhesive tape, used for guiding automatically guided vehicles in storage warehouses.

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